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Estimation of angular quantities is a widespread issue, but standard approaches neglect the true topology of the problem and approximate directional with linear uncertainties. In recent years, novel approaches based on directional statistics have been proposed. However, these approaches have been unable to consider arbitrary circular correlations between multiple angles so far. For this reason, we...
In this paper, we address the problem of developing computationally efficient recursive estimators on the periodic domain of orientations using the Bingham distribution. The Bingham distribution is defined directly on the unit hypersphere. As such, it is able to describe both large and small uncertainties in a unified framework. In order to tackle the challenging computation of the normalization constant,...
Circular estimation problems arise in many applications and can be addressed with the help of circular distributions. In particular, the wrapped normal and von Mises distributions are widely used in the context of circular problems. To facilitate the development of nonlinear filters, a deterministic sample-based approximation of these distributions with a so-called wrapped Dirac mixture distribution...
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